Trabajo presentado al IROS celebrado en Vilamoura (Portugal) del 7 al 12 de octubre de 2012. ; Rigid object manipulation with robots has mainly relied on precise, expensive models and deterministic sequences. Given the great complexity of accurately modeling deformable objects, their manipulation seems to call for a rather different approach. This paper proposes a probabilistic planner, based on a Partially Observable Markov Decision Process (POMDP), targeted at reducing the inherent uncertainty of deformable object sorting. It is shown that a small set of unreliable actions and inaccurate perceptions suffices to accomplish the task, provided faithful statistics on both of them are collected beforehand. The planner has been applied to a clothes sorting task in a real case context with a depth and color sensor and a robotic arm. Experimental results show the promise of the approach since more than 95% certainty of having isolated a piece of clothing is reached in an average of four steps for quite entangled initial clothing configurations. ; This work has been partially funded by Spanish Ministry of Economy and Competitiveness under projects PAU+ DPI2011-27510 and the Catalan Research Commission 2009SGR155; and by the EU project IntellAct FP7-269959. ; Peer Reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    POMDP approach to robotized clothes separation


    Beteiligte:
    Monsó, Pol (Autor:in) / Alenyà, Guillem (Autor:in) / Torras, Carme (Autor:in)

    Erscheinungsdatum :

    01.01.2012



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Robotized Societies

    Sapaty, Peter Simon | Springer Verlag | 2018


    Robotized Shadow Vehicle

    Peyret, F. / Deparis, J.-P. / Vag-och transport-forskningsinstitutet | British Library Conference Proceedings | 1992


    POMDP Planning at Roundabouts

    Bey, Henrik / Sackmann, Moritz / Lange, Alexander et al. | IEEE | 2021


    ROBOTIZED CARGO VEHICLE

    BOLSHAKOV ANDREJ SERGEEVICH / FEDICHEV ILJA MIHAJLOVICH / KOVALENKO VLADIMIR ALEKSANDROVICH et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Robotized Skin Harvesting

    Duchemin, G. / Dombre, E. / Pierrot, F. et al. | Springer Verlag | 2003